subject:(powered transfemoral prosthesis)

Vanderbilt University

1. Lawson, Brian Edward. Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees.

Degree: PhD, Mechanical Engineering, 2014, Vanderbilt University

URL: http://hdl.handle.net/1803/12271

► This dissertation describes the development and testing of control systems for powered transfemoral prostheses. The work is divided into seven chapters, with five distinct contributions.… (more)

Subjects/Keywords: Transfemoral; Robotics; Powered Prosthesis; Mechatronics; Amputation; Rehabilitation Robotics

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Lawson, B. E. (2014). Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12271

Chicago Manual of Style (16^th Edition):

Lawson, Brian Edward. “Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees.” 2014. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/12271.

MLA Handbook (7^th Edition):

Lawson, Brian Edward. “Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees.” 2014. Web. 16 Jan 2021.

Vancouver:

Lawson BE. Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees. [Internet] [Doctoral dissertation]. Vanderbilt University; 2014. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/12271.

Council of Science Editors:

Lawson BE. Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees. [Doctoral Dissertation]. Vanderbilt University; 2014. Available from: http://hdl.handle.net/1803/12271

Vanderbilt University

2. Sup IV, Frank Charles. Design and Control of a Powered Transfemoral Prosthesis.

Degree: MS, Mechanical Engineering, 2006, Vanderbilt University

URL: http://hdl.handle.net/1803/14823

► This thesis describes the design and control of a transfemoral prosthesis with powered knee and ankle joints. The initial prototype is a pneumatically-actuated powered-tethered device,… (more)

Subjects/Keywords: transfemoral prosthesis; powered prosthesis; active prosthesis; impedance control; Artificial legs – Design and construction

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Sup IV, F. C. (2006). Design and Control of a Powered Transfemoral Prosthesis. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14823

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Sup IV, Frank Charles. “Design and Control of a Powered Transfemoral Prosthesis.” 2006. Thesis, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/14823.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Sup IV, Frank Charles. “Design and Control of a Powered Transfemoral Prosthesis.” 2006. Web. 16 Jan 2021.

Vancouver:

Sup IV FC. Design and Control of a Powered Transfemoral Prosthesis. [Internet] [Thesis]. Vanderbilt University; 2006. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/14823.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Sup IV FC. Design and Control of a Powered Transfemoral Prosthesis. [Thesis]. Vanderbilt University; 2006. Available from: http://hdl.handle.net/1803/14823

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

3. Telwak, Michael. Determination Of Optimal Counter-Mass Location In Active Prostheses For Transfemoral Amputees To Replicate Normal Swing.

Degree: 2013, Marquette University

URL: https://epublications.marquette.edu/theses_open/205

► Transfemoral amputees suffer the loss of the knee and ankle joints, as well as partial or complete loss of many of the lower extremity muscle… (more)

▼ Transfemoral amputees suffer the loss of the knee and ankle joints, as well as partial or complete loss of many of the lower extremity muscle groups involved in ambulation. Recent advances in lower limb prostheses have involved the design of active, powered prosthetic knee and ankle-foot components capable of generating knee and ankle torques similar to that of normal gait. The associated onboard motors, conditioning/processing, and battery units of these active components result in increased mass of the respective prosthesis. While not an issue during stance, this increased mass of the prosthesis affects swing. The goal of this study is to develop and validate mathematical models of the transfemoral residual limb and prosthesis, expand these models to include an active ankle-foot, and investigate counter-mass magnitude(s) and location(s) via model optimization that might improve kinematic symmetry during swing. Single- (thigh only, shank only) and multi-segment (combined thigh and shank) optimization of counter-mass magnitudes and locations indicated that a 2.0 kg counter-mass added 8 cm distal and 10 cm posterior to the distal end of knee unit within the shank segment approximated knee kinematics of able-bodied subjects. This location, however, induced artificial hip torques that reduced hip flexion during swing. While such a counter-mass location and magnitude demonstrated theoretical potential, this location is not clinically realistic; mass can only be added within the prosthesis, distal to the residual limb. Clinically realistic counter-masses must also keep the total prosthetic mass to less than 5 kg; greater mass requires supplemental prosthetic suspension, would likely increase energy expenditure during ambulation, and contribute to increased likelihood of fatigue even with active prosthetic components. The ability to simulate the effects of active prosthetic components inclusive of varying placement of battery and signal conditioning units may advance the design of active prostheses that will minimize kinematic asymmetry and result in greater patient acceptance. Advisors/Committee Members: Silver-Thorn, Barbara, Voglewede, Philip, Harris, Gerald.

Subjects/Keywords: Active ankle; Counter-mass; Powered Prosthesis; Transfemoral Amputee

…57 Table 11: Physical models of the TFA pseudo-residual limb and prosthesis… …38 Figure 12: The powered ankle-foot design by Bergelin et al… …39 Figure 13: Initial prototype and final design of the BIOM powered ankle-foot… …40 Figure 14: Powered knee and ankle-foot design by Sup et al… …wearing a prosthesis incorporating a Total Knee 2000…

10 more images…

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Telwak, M. (2013). Determination Of Optimal Counter-Mass Location In Active Prostheses For Transfemoral Amputees To Replicate Normal Swing. (Thesis). Marquette University. Retrieved from https://epublications.marquette.edu/theses_open/205

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Telwak, Michael. “Determination Of Optimal Counter-Mass Location In Active Prostheses For Transfemoral Amputees To Replicate Normal Swing.” 2013. Thesis, Marquette University. Accessed January 16, 2021. https://epublications.marquette.edu/theses_open/205.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Telwak, Michael. “Determination Of Optimal Counter-Mass Location In Active Prostheses For Transfemoral Amputees To Replicate Normal Swing.” 2013. Web. 16 Jan 2021.

Vancouver:

Telwak M. Determination Of Optimal Counter-Mass Location In Active Prostheses For Transfemoral Amputees To Replicate Normal Swing. [Internet] [Thesis]. Marquette University; 2013. [cited 2021 Jan 16]. Available from: https://epublications.marquette.edu/theses_open/205.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Telwak M. Determination Of Optimal Counter-Mass Location In Active Prostheses For Transfemoral Amputees To Replicate Normal Swing. [Thesis]. Marquette University; 2013. Available from: https://epublications.marquette.edu/theses_open/205

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

4. Bohara, Amit. Design and Control of Transfemoral Powered Prosthesis.

Degree: MS, Mechanical Engineering, 2006, Vanderbilt University

URL: http://hdl.handle.net/1803/14953

► An impedance-based control strategy to enable a user to walk at a pre-defined speed on the treadmill using a two degree of freedom transfemoral prosthesis… (more)

Subjects/Keywords: powered transfemoral prosthesis. finite state cont; Artificial legs – Design and control; impedance control; Gait in humans

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Bohara, A. (2006). Design and Control of Transfemoral Powered Prosthesis. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14953

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Bohara, Amit. “Design and Control of Transfemoral Powered Prosthesis.” 2006. Thesis, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/14953.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Bohara, Amit. “Design and Control of Transfemoral Powered Prosthesis.” 2006. Web. 16 Jan 2021.

Vancouver:

Bohara A. Design and Control of Transfemoral Powered Prosthesis. [Internet] [Thesis]. Vanderbilt University; 2006. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/14953.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Bohara A. Design and Control of Transfemoral Powered Prosthesis. [Thesis]. Vanderbilt University; 2006. Available from: http://hdl.handle.net/1803/14953

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

5. Varol, Huseyin Atakan. Progress towards the intelligent control of a powered transfemoral prosthesis.

Degree: MS, Electrical Engineering, 2007, Vanderbilt University

URL: http://hdl.handle.net/1803/13605

► In this thesis, firstly a real-time gait intent recognition approach for use in controlling a fully powered transfemoral prosthesis is described. Rather than utilize an… (more)

Subjects/Keywords: decomposition based control; powered transfemoral prosthesis; gait intent recognition; nearest neighbor algorithms; Artificial legs – Design and construction; Intelligent control systems

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Varol, H. A. (2007). Progress towards the intelligent control of a powered transfemoral prosthesis. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13605

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Varol, Huseyin Atakan. “Progress towards the intelligent control of a powered transfemoral prosthesis.” 2007. Thesis, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/13605.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Varol, Huseyin Atakan. “Progress towards the intelligent control of a powered transfemoral prosthesis.” 2007. Web. 16 Jan 2021.

Vancouver:

Varol HA. Progress towards the intelligent control of a powered transfemoral prosthesis. [Internet] [Thesis]. Vanderbilt University; 2007. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/13605.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Varol HA. Progress towards the intelligent control of a powered transfemoral prosthesis. [Thesis]. Vanderbilt University; 2007. Available from: http://hdl.handle.net/1803/13605

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Cleveland State University

6. Warner, Holly E. Simulation and Control at the Boundaries Between Humans and Assistive Robots.

Degree: PhD, Washkewicz College of Engineering, 2019, Cleveland State University

URL: http://rave.ohiolink.edu/etdc/view?acc_num=csu1577719990967925

► Human-machine interaction has become an important area of research as progress is made in the fields of rehabilitation robotics, powered prostheses, and advanced exercise machines.… (more)

▼ Human-machine interaction has become an important area of research as progress is made in the fields of rehabilitation robotics, powered prostheses, and advanced exercise machines. Adding to the advances in this area, a novel controller for a powered transfemoral prosthesis is introduced that requires limited tuning and explicitly considers energy regeneration. Results from a trial conducted with an individual with an amputation show self-powering operation for the prosthesis while concurrently attaining basic gait fidelity across varied walking speeds.Experience in prosthesis development revealed that, though every effort is made to ensure the safety of the human subject, limited testing of such devices prior to human trials can be completed in the current research environment. Two complementary alternatives are developed to fill that gap. First, the feasibility of implementing impulse-momentum sliding mode control on a robot that can physically replace a human with a transfemoral amputation to emulate weight-bearing for initial prototype walking tests is established. Second, a more general human simulation approach is proposed that can be used in any of the aforementioned human-machine interaction fields.Seeking this general human simulation method, a unique pair of solutions for simulating a Hill muscle-actuated linkage system is formulated. These include using the Lyapunov-based backstepping control method to generate a closed-loop tracking simulation and, motivated by limitations observed in backstepping, an optimal control solver based on differential flatness and sum of squares polynomials in support of receding horizon controlled (e.g. model predictive control) or open-loop simulations. The backstepping framework provides insight into muscle redundancy resolution. The optimal control framework uses this insight to produce a computationally efficient approach to musculoskeletal system modeling. A simulation of a human arm is evaluated in both structures. Strong tracking performance is achieved in the backstepping case. An exercise optimization application using the optimal control solver showcases the computational benefits of the solver and reveals the feasibility of finding trajectories for human-exercise machine interaction that can isolate a muscle of interest for strengthening. Advisors/Committee Members: Richter, Hanz (Advisor).

Subjects/Keywords: Biomechanics; Biomedical Engineering; Engineering; Mechanical Engineering; Robotics; Robots; Prosthesis; Transfemoral; Above-knee; Powered; Energy regeneration; Gait emulator; Human-machine interaction; Musculoskeletal model; Sum of squares polynomial; Differential flatness; Exercise; Control; Impedance; Backstepping; Optimal; Model predictive

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Warner, H. E. (2019). Simulation and Control at the Boundaries Between Humans and Assistive Robots. (Doctoral Dissertation). Cleveland State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=csu1577719990967925

Chicago Manual of Style (16^th Edition):

Warner, Holly E. “Simulation and Control at the Boundaries Between Humans and Assistive Robots.” 2019. Doctoral Dissertation, Cleveland State University. Accessed January 16, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=csu1577719990967925.

MLA Handbook (7^th Edition):

Warner, Holly E. “Simulation and Control at the Boundaries Between Humans and Assistive Robots.” 2019. Web. 16 Jan 2021.

Vancouver:

Warner HE. Simulation and Control at the Boundaries Between Humans and Assistive Robots. [Internet] [Doctoral dissertation]. Cleveland State University; 2019. [cited 2021 Jan 16]. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=csu1577719990967925.

Council of Science Editors:

Warner HE. Simulation and Control at the Boundaries Between Humans and Assistive Robots. [Doctoral Dissertation]. Cleveland State University; 2019. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=csu1577719990967925

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